User Manual

Commands Reference
216 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Syntax Serial: ?CL nn
Argument: Group
Min: 1 Max: 16
Syntax Scripting: result = getvalue(_CL, nn)
result = getvalue(_CALIVE, nn)
Reply:
CL=mm Type: Unsigned 32-bit Min: 0 Max: 4194M
Where:
nn =
1 : nodes 0-3
2 : nodes 4-7
...
...
15 : nodes 120-123
16 : nodes 124-127
mm = 4 words of 4 bits. Each 4-bit word:
0b0000 : Inactive node
0b0001 : Active motor controller
0b0011 : Active magsensor
0b0101 : Active RIOX
0b0111 : Active BMS
0b1001 : Active OTS
0b1011 : Active FLW
CR - Read Encoder Count Relative
Alias: RELCNTR HexCode: 08 CANOpen id: 0x2108
Description:
Returns the amount of counts that have been measured from the last time this query was
made. Relative counter read is sometimes easier to work with, compared to full counter
reading, as smaller numbers are usually returned.
Syntax Serial: ?CR [cc]
Argument: Channel
Min: 1 Max: Total Number of Encoders
Syntax Scripting: result = getvalue(_CR, cc)
result = getvalue(_RELCNTR, cc)
Reply:
CR=nn Type: Signed 32-bit Min: -2147M Max: 2147
Where:
cc = Motor channel
nn = Counts since last read using ?CR